CN114248924A - Unmanned aerial vehicle emergency release device and method - Google Patents
Unmanned aerial vehicle emergency release device and method Download PDFInfo
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- CN114248924A CN114248924A CN202010998473.0A CN202010998473A CN114248924A CN 114248924 A CN114248924 A CN 114248924A CN 202010998473 A CN202010998473 A CN 202010998473A CN 114248924 A CN114248924 A CN 114248924A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 61
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000000926 separation method Methods 0.000 claims description 20
- 238000013461 design Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/04—Dropping, ejecting, or releasing articles the articles being explosive, e.g. bombs
- B64D1/06—Bomb releasing; Bombs doors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D7/00—Arrangements of military equipment, e.g. armaments, armament accessories, or military shielding, in aircraft; Adaptations of armament mountings for aircraft
Abstract
The invention provides an emergency release device and method for an unmanned aerial vehicle, which comprises three physical channels, wherein the first physical channel comprises a task computer, a secondary power distribution device and a hanging rack, the second physical channel comprises a flight control computer, a main power distribution device and the hanging rack, and the third physical channel comprises the flight control computer, the task computer, the secondary power distribution device and the hanging rack; the task computer, the secondary power distribution device and the hanging rack are connected in pairs, the flight control computer, the main power distribution device and the hanging rack are connected in pairs, and a communication interface is arranged between the flight control computer and the task computer. According to the unmanned aerial vehicle weapon emergency release system, the three physical channels are used for emergency release, so that the redundant design of unmanned aerial vehicle weapon emergency release is realized, and the safety of the unmanned aerial vehicle during emergency release is ensured.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle weapon control, and particularly relates to an unmanned aerial vehicle emergency release device and method.
Background
The unmanned aerial vehicle with the striking function is required to mount a weapon, and the weapon emission control is an important function and means for striking a target and ensuring the safety of the aerial vehicle. The emergency release is a necessary function for ensuring the safety of the aircraft, so that the realization of the function has higher reliability. On the basis of human and machine, in order to ensure the reliability of putting, the emergency putting of the weapon is realized by the pilot operating a hard switch, and is irrelevant to airborne software. But on unmanned aerial vehicles, the use scheme of hard switch can not be realized. For this reason, a new design method is needed for emergency release of airborne weapons of the unmanned aerial vehicle, and the reliability of emergency release is improved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an emergency release device and method for an unmanned aerial vehicle. The scheme of the invention can solve the problems in the prior art.
The technical solution of the invention is as follows:
according to a first aspect, an unmanned aerial vehicle emergency release device is provided, and comprises three physical channels, wherein a first physical channel comprises a task computer, a secondary power distribution device and a hanging rack, a second physical channel comprises a flight control computer, a main power distribution device and the hanging rack, and a third physical channel comprises the flight control computer, the task computer, the secondary power distribution device and the hanging rack; the task computer, the secondary power distribution device and the hanging rack are connected in pairs, the task computer receives an emergency releasing instruction and calculates a hanging point needing emergency releasing according to instruction parameters, the task computer provides an instruction for separating an opening device and a plugging-unplugging device of the hanging rack and transmits the instruction to the secondary power distribution device, the secondary power distribution device provides power distribution control for the opening device and the plugging-unplugging device of the hanging rack, and the hanging rack receives the power distribution control of a main power distribution device and the secondary power distribution device and performs hooking and plugging-unplugging control on a hung weapon; the flight control computer receives an emergency release instruction and calculates a hanging point needing emergency release according to instruction parameters, the flight control computer provides an instruction for separating the hook opening device and the inserting and removing device of the hanging rack and transmits the instruction to the main power distribution device, and the main power distribution device provides power distribution control for the hook opening device and the inserting and removing device of the hanging rack; and a communication interface is arranged between the flight control computer and the task computer.
Further, the first physical channel, the second physical channel and the third physical channel are in a redundant backup relationship.
Preferably, when the command of the ground control station exists, the first physical channel is the first choice, and the second physical channel is selected under the condition that the first physical channel fails; when the command of the ground control station does not exist, the third physical channel is preferred, and when the third physical channel fails, the second physical channel is selected.
According to a second aspect, the method for emergency release of the unmanned aerial vehicle is provided, and comprises the following steps:
the ground station and the flight control computer perform state judgment on the unmanned aerial vehicle to determine whether to start an emergency release instruction, and if so, perform the next step;
if an emergency release instruction sent by the ground station is received, the first physical channel executes the emergency release instruction, if the emergency release instruction is executed normally, the unmanned aerial vehicle completes emergency release, and if the emergency release instruction is executed wrongly, the second physical channel executes the emergency release instruction, and the unmanned aerial vehicle completes emergency release;
if the received emergency release instruction is sent by the flight control computer, the third physical channel executes the emergency release instruction, if the instruction is normal, the emergency release of the unmanned aerial vehicle is completed, if the command is wrong, the second physical channel executes the emergency release instruction, and the emergency release of the unmanned aerial vehicle is completed.
Further, the step of executing the emergency release instruction by the first physical channel is as follows:
s2.1, after receiving the emergency release instruction, the task computer sends a signal to the weapon, judges whether the weapon is powered off, if not, executes the power-off operation of the weapon, and if the weapon is powered off, performs S2.2;
s2.2, controlling a secondary power distribution device to perform inserting and separating control on the hanging rack, if the separation is wrong, feeding the state back to the ground station and the flight control computer, executing a second physical channel emergency release instruction, and if the separation is normal, performing S2.3;
and S2.3, the task computer controls the secondary power distribution device to carry out unhooking control on the hanging frame, if the unhooking is wrong, the state is fed back to the ground station and the flight control computer, a second physical channel emergency release instruction is executed, and if the unhooking is correct, the emergency release process is finished.
Further, the step of executing the emergency release instruction by the second physical channel is as follows:
s3.1, after receiving the emergency release instruction, the flight control computer controls the main power distribution unit to perform release and separation control on the hanging rack, and feeds the state back to the ground station;
and S3.2, controlling the main power distribution device to carry out unhooking control on the hanging frame by the flight control computer, feeding the state back to the ground station, and ending the emergency release process.
Further, the step of executing the emergency release instruction by the third physical channel is as follows:
s4.1, the flight control computer autonomously decides to generate an emergency release instruction and sends the emergency release instruction to the task computer;
s4.2, after receiving the emergency release instruction, the task computer sends a signal to the weapon, judges whether the weapon is powered off, if not, executes the power-off operation of the weapon, and if the weapon is powered off, performs S4.3;
s4.3, controlling a secondary power distribution device to perform inserting and separating control on the hanging rack, if the separation is wrong, feeding the state back to the ground station and the flight control computer, executing a second physical channel emergency release instruction, and if the separation is normal, performing S4.4;
and S4.4, the task computer controls the secondary power distribution device to carry out unhooking control on the hanging frame, if the unhooking is wrong, the state is fed back to the ground station and the flight control computer, a second physical channel emergency release instruction is executed, and if the unhooking is correct, the emergency release process is finished.
Compared with the prior art, the invention has the beneficial effects that:
according to the unmanned aerial vehicle weapon emergency release system, the three physical channels are used for emergency release, so that the redundant design of unmanned aerial vehicle weapon emergency release is realized, and the safety of the unmanned aerial vehicle during emergency release is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 shows a schematic diagram of an emergency release device for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a first physical channel emergency release step provided according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a second physical channel emergency release step provided in an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a third physical channel emergency release step provided in accordance with an embodiment of the present invention;
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1, according to an embodiment of the present invention, there is provided an emergency release device for a drone,
the system comprises three physical channels, wherein the first physical channel comprises a task computer, a secondary power distribution device and a hanging rack, the second physical channel comprises a flight control computer, a main power distribution device and a hanging rack, and the third physical channel comprises a flight control computer, a task computer, a secondary power distribution device and a hanging rack; the task computer receives an emergency release instruction and calculates a required emergency release hanging point according to instruction parameters, the task computer provides an instruction for separating the hook opening device and the inserting and extracting device of the hanging rack and transmits the instruction to the secondary power distribution device, the secondary power distribution device provides power distribution control for the hook opening device and the inserting and extracting device of the hanging rack, and the hanging rack receives the power distribution control of the main power distribution device and the secondary power distribution device and performs hook opening and inserting and extracting control on a hung weapon; the flight control computer receives an emergency release instruction and calculates a hanging point needing emergency release according to instruction parameters, the flight control computer provides an instruction for separating the hook opening device and the inserting and removing device of the hanging rack and transmits the instruction to the main power distribution device, and the main power distribution device provides power distribution control for the hook opening device and the inserting and removing device of the hanging rack; and a communication interface is arranged between the flight control computer and the task computer.
In the invention, the mission computer is a computer for realizing the control of mission load and weapon and the collection of load and weapon state, the secondary distribution device is a distribution device controlled by the mission computer for realizing the power supply and distribution of mission load and weapon, and the main distribution device is a distribution device controlled by the flight control computer for realizing the power supply and distribution of relevant equipment flying on the airplane and the emergency release of weapon.
Further in one embodiment, the first physical channel, the second physical channel, and the third physical channel are in a redundant backup relationship.
Preferably, in one embodiment, when the command of the ground control station is available, the first physical channel is preferred, and when the first physical channel fails, the second physical channel is selected; when the command of the ground control station does not exist, the third physical channel is preferred, and when the third physical channel fails, the second physical channel is selected.
According to a second embodiment, the emergency release method for the unmanned aerial vehicle is provided, which includes the following steps:
the ground station and the flight control computer perform state judgment on the unmanned aerial vehicle to determine whether to start an emergency release instruction, and if so, perform the next step;
if an emergency release instruction sent by the ground station is received, the first physical channel executes the emergency release instruction, if the emergency release instruction is executed normally, the unmanned aerial vehicle completes emergency release, and if the emergency release instruction is executed wrongly, the second physical channel executes the emergency release instruction, and the unmanned aerial vehicle completes emergency release;
if the received emergency release instruction is sent by the flight control computer, the third physical channel executes the emergency release instruction, if the instruction is normal, the emergency release of the unmanned aerial vehicle is completed, if the command is wrong, the second physical channel executes the emergency release instruction, and the emergency release of the unmanned aerial vehicle is completed.
Further in one embodiment, as shown in fig. 2, the step of executing the emergency release instruction by the first physical channel is as follows:
s2.1, after receiving the emergency release instruction, the task computer sends a signal to the weapon, judges whether the weapon is powered off, if not, executes the power-off operation of the weapon, and if the weapon is powered off, performs S2.2;
s2.2, controlling a secondary power distribution device to perform inserting and separating control on the hanging rack, if the separation is wrong, feeding the state back to the ground station and the flight control computer, executing a second physical channel emergency release instruction, and if the separation is normal, performing S2.3;
and S2.3, the task computer controls the secondary power distribution device to carry out unhooking control on the hanging frame, if the unhooking is wrong, the state is fed back to the ground station and the flight control computer, a second physical channel emergency release instruction is executed, and if the unhooking is correct, the emergency release process is finished.
Further in one embodiment, as shown in fig. 3, the step of executing the emergency release instruction by the second physical channel is:
s3.1, after receiving the emergency release instruction, the flight control computer controls the main power distribution unit to perform release and separation control on the hanging rack, and feeds the state back to the ground station;
and S3.2, controlling the main power distribution device to carry out unhooking control on the hanging frame by the flight control computer, feeding the state back to the ground station, and ending the emergency release process.
Further in one embodiment, as shown in fig. 4, the step of executing the emergency release instruction by the third physical channel is:
s4.1, the flight control computer autonomously decides to generate an emergency release instruction and sends the emergency release instruction to the task computer;
s4.2, after receiving the emergency release instruction, the task computer sends a signal to the weapon, judges whether the weapon is powered off, if not, executes the power-off operation of the weapon, and if the weapon is powered off, performs S4.3;
s4.3, controlling a secondary power distribution device to perform inserting and separating control on the hanging rack, if the separation is wrong, feeding the state back to the ground station and the flight control computer, executing a second physical channel emergency release instruction, and if the separation is normal, performing S4.4;
and S4.4, the task computer controls the secondary power distribution device to carry out unhooking control on the hanging frame, if the unhooking is wrong, the state is fed back to the ground station and the flight control computer, a second physical channel emergency release instruction is executed, and if the unhooking is correct, the emergency release process is finished.
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings.
After the mission machine receives an emergency release instruction of the ground station, the suspension point needing release is judged, the weapon state of the suspension point is judged, and the weapon is guaranteed to be in a power-off state during emergency release. If the weapon can not be normally powered off, the emergency release is still carried out, but the state of the weapon is transmitted to the ground station for judging the hitting effect of the weapon.
The first physical channel emergency release process taking the task computer as a core is as follows:
and the task computer controls the secondary power distribution device to send a weapon release and separation instruction, collects release and insertion interlocking signals and judges whether weapon release and separation is normal or not within 300 ms. And if the weapon is disconnected and separated abnormally, the mission machine does not continue to execute the hooking and unhooking instruction, feeds back the current state to the flight control computer and the ground station, and performs a second physical channel taking the flight control computer as a core. After the weapon is normally disconnected and separated, the task computer controls the secondary power distribution device to send out a hanger unhooking instruction, collects a bullet hanging instruction signal and judges whether the hanger unhooking is normal or not within 500 ms. And if the hanger is abnormal in hook opening, feeding back the current state to the flight control computer and the ground station, and performing a second physical channel taking the flight control computer as a core. And (4) the hook opening of the hanging frame is normal, the weapon emergency release process is finished, and the state is fed back to the flight control computer and the ground station.
The second physical channel emergency release process taking the flight control computer as a core is as follows:
and after the flight control computer receives the emergency release instruction of the ground station, the flight control computer does not judge any state of the weapon any more and executes an unconditional emergency release process. And the flight control computer sends a corresponding off-line and off-line separation instruction of the hanging position to the main power distribution unit, and the instruction lasts for 300 ms. And the flight control computer sends a hanger unhooking instruction to the main power distribution unit, and the hanger unhooking instruction lasts for 500 ms. The flight control computer does not judge the state of the disengaging and inserting separation and the state of the opening of the hanging rack. And the task computer periodically acquires the state of the unplugging and disconnecting separation and the state of the missile hanging indication signal and feeds back the state to the flight control computer and the ground station.
When the flight control computer judges that the aircraft is threatened by flight safety, when the onboard weapon needs to be released through an algorithm of assistant decision, the ground station does not send an emergency release instruction of the weapon, the flight control computer sends the emergency release instruction to the task computer, and a third physical channel emergency release process is executed. And the process of executing the emergency releasing instruction by the task computer is the same as the process of executing the emergency releasing instruction received from the ground station. In summary, compared with the prior art, the invention has at least the following advantages: according to the unmanned aerial vehicle weapon emergency release system, the three physical channels are used for emergency release, so that the redundant design of unmanned aerial vehicle weapon emergency release is realized, and the safety of the unmanned aerial vehicle during emergency release is ensured.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An unmanned aerial vehicle emergency release device is characterized by comprising three physical channels, wherein the first physical channel comprises a task computer, a secondary distribution device and a hanging rack, the second physical channel comprises a flight control computer, a main distribution device and the hanging rack, and the third physical channel comprises the flight control computer, the task computer, the secondary distribution device and the hanging rack; the task computer, the secondary power distribution device and the hanging rack are connected in pairs, the task computer receives an emergency releasing instruction and calculates a hanging point needing emergency releasing according to instruction parameters, the task computer provides an instruction for separating an opening device and a plugging-unplugging device of the hanging rack and transmits the instruction to the secondary power distribution device, the secondary power distribution device provides power distribution control for the opening device and the plugging-unplugging device of the hanging rack, and the hanging rack receives the power distribution control of a main power distribution device and the secondary power distribution device and performs hooking and plugging-unplugging control on a hung weapon; the flight control computer receives an emergency release instruction and calculates a hanging point needing emergency release according to instruction parameters, the flight control computer provides an instruction for separating the hook opening device and the inserting and removing device of the hanging rack and transmits the instruction to the main power distribution device, and the main power distribution device provides power distribution control for the hook opening device and the inserting and removing device of the hanging rack; and a communication interface is arranged between the flight control computer and the task computer.
2. An emergency release device for unmanned aerial vehicles according to claim 1, wherein the first physical channel, the second physical channel and the third physical channel are in a redundant backup relationship.
3. An emergency release device for unmanned aerial vehicles according to claim 1 or 2, wherein when there is a command from the ground control station, the first physical channel is preferred, and when the first physical channel fails, the second physical channel is selected; when the command of the ground control station does not exist, the third physical channel is preferred, and when the third physical channel fails, the second physical channel is selected.
4. An emergency release method for unmanned aerial vehicles according to claims 1-3, wherein the method comprises the following steps:
the ground station and the flight control computer perform state judgment on the unmanned aerial vehicle to determine whether to start an emergency release instruction, and if so, perform the next step;
if an emergency release instruction sent by the ground station is received, the first physical channel executes the emergency release instruction, if the emergency release instruction is executed normally, the unmanned aerial vehicle completes emergency release, and if the emergency release instruction is executed wrongly, the second physical channel executes the emergency release instruction, and the unmanned aerial vehicle completes emergency release;
if the received emergency release instruction is sent by the flight control computer, the third physical channel executes the emergency release instruction, if the instruction is normal, the emergency release of the unmanned aerial vehicle is completed, if the command is wrong, the second physical channel executes the emergency release instruction, and the emergency release of the unmanned aerial vehicle is completed.
5. The emergency release method for unmanned aerial vehicle as claimed in claim 4, wherein the step of executing the emergency release command by the first physical channel comprises:
s2.1, after receiving the emergency release instruction, the task computer sends a signal to the weapon, judges whether the weapon is powered off, if not, executes the power-off operation of the weapon, and if the weapon is powered off, performs S2.2;
s2.2, controlling a secondary power distribution device to perform inserting and separating control on the hanging rack, if the separation is wrong, feeding the state back to the ground station and the flight control computer, executing a second physical channel emergency release instruction, and if the separation is normal, performing S2.3;
and S2.3, the task computer controls the secondary power distribution device to carry out unhooking control on the hanging frame, if the unhooking is wrong, the state is fed back to the ground station and the flight control computer, a second physical channel emergency release instruction is executed, and if the unhooking is correct, the emergency release process is finished.
6. The emergency release method for unmanned aerial vehicle according to claim 4, wherein the step of executing the emergency release command by the second physical channel comprises:
s3.1, after receiving the emergency release instruction, the flight control computer controls the main power distribution unit to perform release and separation control on the hanging rack, and feeds the state back to the ground station;
and S3.2, controlling the main power distribution device to carry out unhooking control on the hanging frame by the flight control computer, feeding the state back to the ground station, and ending the emergency release process.
7. The emergency release method for unmanned aerial vehicle as claimed in claim 4, wherein the third physical channel executes the emergency release command by:
s4.1, the flight control computer autonomously decides to generate an emergency release instruction and sends the emergency release instruction to the task computer;
s4.2, after receiving the emergency release instruction, the task computer sends a signal to the weapon, judges whether the weapon is powered off, if not, executes the power-off operation of the weapon, and if the weapon is powered off, performs S4.3;
s4.3, controlling a secondary power distribution device to perform inserting and separating control on the hanging rack, if the separation is wrong, feeding the state back to the ground station and the flight control computer, executing a second physical channel emergency release instruction, and if the separation is normal, performing S4.4;
and S4.4, the task computer controls the secondary power distribution device to carry out unhooking control on the hanging frame, if the unhooking is wrong, the state is fed back to the ground station and the flight control computer, a second physical channel emergency release instruction is executed, and if the unhooking is correct, the emergency release process is finished.
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